Inertial/doppler-satellite navigation system

ABSTRACT

Terrestrial navigation apparatus for a vehicle includes a system of inertial sensors generating signals representative of the position and velocity of the vehicle, a data processor, and a receiver for receiving data from a doppler satellite system including a signal of known frequency as well as signals representative of the satellite&#39;&#39;s position. The difference between the doppler frequency shift computed from the information received from the satellite and the doppler frequency shift computed by the inertial system is modeled as an observable in a Kalman filter programmed into the data processor to generate a set of error signals representative of estimates of the errors in the position and velocity signals generated by the inertial sensors. The error estimate signals are then used to correct the errors in the inertial sensors. In one disclosed embodiment, the external, observed parameter is a discrete frequency; whereas in an alternative system, it is a frequency count.

O United States Patent [is] 3,702,477

Brown 1 Nov. 7, 1972 [54] INERTlAL/DOPPLER-SATELLITE [57] ABSTRACT NAVIGATION SYSTEM Terrestrial navigation apparatus for a vehicle includes [72] inventor: Robert G. Brown, Ames, Iowa 3. system of inertial sensors generating signals representative of the position and velocity of the vehi- [73] A gzz far g xr g i cle, a data processor, and a receiver for receiving data from a doppler satellite system including a signal of [22] Filed: June 23, 1969 known frequency as well as signals representative of the satellites position. The difference between the [2]] Appl' No" 835,819 doppler frequency shift computed from the information received from the satellite and the doppler U.S. Cl C, 235/150.25 frequency shift computed by the inertial system is III. as an observable in a Kalman filter pro- [58] surch 235/ 150-27; 343/1121 grammed into the data processor to generate a setof 343/100 ST error signals representative of estimates of the errors in the position and velocity signals generated by the [56] R'hnm CM inertial sensors. The error estimate signals are then used to correct the errors in the inertial sensors. in UNITED STATES PATENTS one disclosed embodiment, the external, observed 2,914,763 11/1959 Greenwood, J13 at parameter is a discrete frequency; whereas in an alter- 3 028 5-92 4,1962 P h s o z native system, it is a frequency count. arr et a 10 Claims, 15 Drawing Figures Primary Examiner-Richard A. Farley Assistant Examiner-Richard E. Berger n vie!- .T lw aiansms INERTIAL 18 (-17 VELOCWY DIFFERENCE.

Ci. NONtNERTlAL VELOClTY I I9 MEAN$ REFERENCE DATA I u INER'TI AL J KALMAN NAVlGATION ER sv STEM PREDICTED DOPPLER SHIFT RESET INERTIAL SYSTE ERRORS u' Tm Q. NNSS l SYSTEM DIFFERENCE MEANS MEASURED DOPPLER sH FT PATENTEDIM 7 I972 SHEET 060F13 Q WH LJU

PATENTEnuuv 1 I972 SHEET 07 0F 13 mvw mon mm Nude ATTORNEYS PATENTEDuuv 7 I972 SHEET 08 0F 13 mOOo wu(a name Name flono oonc ATTORNEY PATENTED 7 I97? sum as or 13 ammo wrmo ammo wmrO /N\/ENTOR ROBERT 6. BROWN fiawwn, lilton, M MW ATTORNEYS PATENTEDHM 1 m2 SHEET l1DF13 0000 wo a u u u u w@ u u u u u u u 04 u m w or -m acme cows cwwc mmmo PrmO ammo wmmc HVVENTOR RQBERT BROWN ATTORNEYS INERTIALIDOPPLER-SATELLITE NAVIGATION SYSTEM BACKGROUND AND SUMMARY The present invention relates to a navigation system having a cluster of inertial sensors which makes use of doppler frequency shift data from an earth-orbiting satellite to correct errors in the inertial sensors.

l Details of the Navy Navigation Satellite System (NNSS) have recently been made public; and civilian use of the system is encouraged (see for example The Navy Navigation Satellite System: Description and Status, T.A. Stansell, Institute of Navigation Proceedings; pp. 30-60 (1967). It is already public knowledge that the satellites included in the NNSS system transmit a sinusoidal signal of known and constant frequency as well as signals representative of the position coordinates of the satellite.

This has brought about renewed commercial interest in integrating inertial and satellite navigation systems. The match is a natural one because of complementary characteristics of the two systems. inertial systems provide essentially continuous outputs but suffer from long-term drift (i.e. error). On the other hand, the NNSS system is capable of providing excellent discrete position fixes; but it cannot by itself, provide the necessary interpolation between these fixes. Thus, the integration of these systems to use the advantages of each is highly desirous.

In addition to the complementary features just mentioned, there is a more subtle reason for considering the combined inertial-satellite system. The accuracy of a position fix (that is, the three-dimensional coordinates that fix a body in space) obtained from the doppler shift of the satellite signal is dependent on knowledge of the vehicle velocity, and the accuracy of a given position fix will be enhanced if it is based on very accurate velocity information. The need for highly accurate velocity information is especially critical in a highspeed aircraft in a maneuvering situation where an inertial system might be the only possible means of obtaining instantaneous velocity accurately enough for a good position fix.

Heretofore, two general approaches have been suggested to incorporate the two systems together in such a way as to take advantage of the desirable characteristics of each.

A first approach uses the navigation satellite system in the conventional manner as described in an article by R. B. Kershner and R. R. Newton entitled The Transit System," Institute of Navigation Journal, l29-l44 (1962) to obtain a position fix with the inertial system providing velocity reference information for compensation in the position-fix determination. The position output of the inertial system is then reset in accordance with the best estimate of position by extrapolating the position fix to the appropriate point in real time.

. A second system was described in an articlebyB. E. Bona and C. E. Hutchinson entitled Optimum Reset of an Inertial Navigator from Satellite Observations, National Electronic Conference Proceedings, 21: 569-574, (1965). This system suggests using the above-described procedure except that the position fix is fed into the inertial system via a Kalman filter to provide estimates of some of the inertial systems error error propagation after the reset will be less than that which would occur subsequent to a simple position reset. This improved performance is achieved at the cost of additional computer capacity to implement the program to carry out the Kalman filter technique.

The present invention uses the satellite doppler data to directly augment the inertial system and thereby obviates the intermediate step of computing a position fix. A linear model is developed for the propagation of error in the pure inertial system; and then a linear relation between the states of the error model and the measures of these states provided by external augmenting sources is used to generate estimates of these errors. The basic observable (i.e. external reference source) is the doppler frequency shift of the signal transmitted by the satellite as received by the vehicle. Given the orbital parameters defining the position of the satellite, the inertial system computes the frequency it thinks" it should receive based on its own computation of position and velocity and the satellites orbital parameters as received from the satellite. The actual and computed frequency shifts are then compared; and a resultant difference frequency is obtained. This difference frequency is then related to the states in the inertial-system error model via the equation received 60 80,, inertial system position errors 80,, 80 inertial system velocity errors 0,, 0,, a,, a, time varying coefficients that depend on vehicle position and satellite parameters. These are computable on a real-time basis.

First-order perturbations are used to obtain the linear form of Equation 1.

Thus, the two basic requirements for a real-time, closed-loop Kalman-filter operation are fulfilled there is a linear model for the random process to be estimated (i.e., the propagation of inertial system errors); and a linear relationship is defined in (Eq. 1) between the random processes being estimated and on external, measurable, observable parameter.

It should be noted that the inertial velocity and instrument bias errors may be corrected, as well as the position errors, with the inventive system. The inventive system represents an improvement over the other described methods because it accounts for the various sources of error in both the inertial and the augmenting system in a way that makes effective use of the Kalmanfilter reset technique. The improvement over the first method is apparent because in that method no attempt is made to reset any errors in the inertial system except the position errors. The second system has a severe limitation in that the correlation between the inertial velocity error and the satellite position-fix error is not properly accounted for; and the resulting accuracy is degraded. The inventive system does account for this correlation, and, as a result, provides improved performance over either of the known methods.

computed frequency actual frequency' THE DRAWING FIG. 1 is a tutorial schematic block diagram descriptive of the inventive system;

FIG. 2 is a more detailed schematic block diagram of 5 DETAILED DESCRIPTION Before proceeding with the detailed description, discussion of the doppler measurement and Kalman filter are in order. Frequency cannot be sampled at an instant in time, so some form of averaging over a finite time period must be used to form the Bf tenn in Equation l A convenient way of implementing a frequency measurement electronically is to count the number or cycles over a known time interval. When properly scaled, the count becomes a measure of the average for the interval. If the time interval is relatively short and the frequency does not vary appreciably during the interval, the resultant average frequency approximates a discrete frequency sample at a point in time; and Equation (1) applies directly as the measurement relationship (or input) in a discrete Kalman filter. However, if the counting operation takes place over a relatively long interval of time, the average frequency may not be an acceptable approximation of a discrete frequency sample; and an alternate measurement equation in which the frequency count is treated as the observable is preferred. Therefore, two alternative examples will be fully discussed below: in the first, discrete samples of frequency are considered as the measurement, and the latter frequency count is treated as the measurement.

KALMAN FILTER EQUATIONS The Kalman filter is a recursive data processing technique wherein least-squares estimates of the states of a random process are obtained at discrete points in time. The basic recursive equations are as follows:

where A, time increment between t, and t, 4a,, transition matrix x, true'state at time I,

Q, optimum estimate of x after using all of the measured data through y,

5. optimum estimate of 1: after using all of the measured data through y,,

b, gain matrix y, measurement at time t,

4 5 iran P,,* covariance matrix of the estimation error (.i,

x,,) 0* and P, covariance matrix of the estimation errorti,

"M, measurement matrix V, covariance matrix of the measurement error by H, covariance matrix of the response of the states to all white noise driving functions.

The process is started by choosing an initial P AND 2,. Once these are chosen, the recursive equations uniquely specify a solution for any subsequent time, t,.. For further information, see for example H. W. Sorenson, Kalman Filtering Techniques, in C. T. Leondes, ed., Advances In Control Systems, vol. 3, Academic Press, 1966.

FUNCTIONAL BLOCK DIAGRAM FIG. 1 is referred to in order to understand the overall functioning of the inventive system. Reference numeral 10 generally designates a doppler satellite system such as the previously-mentioned Navy Navigation Satellite System. The NNSS system is already in existence; and it includes an earth-orbiting satellite which transmits a constant, known sinusoidal wave of known frequency as well as signals representative of the position of the satellite. Reference is here made to the above article of Stansell. It will be appreciated that the signals transmitted from the satellite permit one to compute its position as a function of time.

The signal of known frequency is received at the vehicle undercontrol and compared with the nominal frequency known to be the frequency of the signal at the satellite; and the difference is transmitted along a line 11 to the negative input of a summing junction 12. It will be appreciated that although the line 11 is shown for simplicity as a single line, it will in fact be a plurality of parallel lines, each carrying a separate digit of a composite digital word.

The vehicle also receives data from the satellite which is representative of its'position; and the inertial navigation system schematically designated at 13,

based upon its own estimate of its position and the received orbital data from the satellite, generates a signal representative of a predicted doppler shift that it should have received along the line 14 that is, the predicted doppler shift signal is what the inertial navigation system thinks it should see based upon its estimate of its own position and the received orbital data from the satellite. Any errors in its own estimate of its position will result in errors in the predicted doppler shift transmitted along line or bus 14 to the positive terminal of the summing junction 12. The difference means 12 generates an output signal Afn, on a bus 15 representative of the difference between the measured doppler shift and the predicted doppler shift. This output signal is then transmitted to a Kalman filter (which is a program to be executed on a digital computer and schematically designated 16). The output of the Kalman filter is a set of signals representative of estimates of errors contained in the position and velocity information in the inertial navigation system; and these estimates are used to reset and correct the position and velocity information in the inertial. navigation system.

The instrument bias errors may also be corrected.

If it is available, noninertial velocity reference data from a source schematically designated 17 may be transmitted to the negative input of a second difference means 18; and information representative of the velocity of the inertial navigation system may be trans mitted to the positive input of the difference means 18 along the dashed line 19. The output of the difference means 18 may also be fed into the Kalman filter, if desired.

Turning now to FIG. 2, there is shown a more detailed schematic block diagram of the system on board the vehicle being controlled. The rf signal from the satellite is received at an antenna schematically designated at 22 and fed into a receiver 23 which, in turn, feeds a message decoder 24. The receiver also feeds a doppler frequency measurement means 25. The doppler frequency measurement means performs the function of comparing the received frequency with a known reference frequency source. For example, a local oscillator may be operating at the frequency close to that which the satellite is known to transmit (the nominal frequency) and the received frequency is mixed with the output of the local oscillator to generate a signal having a frequency representative of the difference in frequency between the received signaland the local oscillator. From this the measured doppler data is computed; and it is transmitted along a line 26 to the differencing means 27 (which corresponds to the earlier-described block 12). The dashed line 28 in FIG. 2 encompasses all of the functions that may be performed (and preferably are performed) in a system computer, having a capability similar to the IBM 360. Thus, there are transmitted to the computer 28, and in particular a differencing means 27 along line 26 a series of signals, each set being representative of a measured doppler shift (that is, measured with respect to the nominal transmitting frequency of the satellite). The message decoder 24 generates three sets of signals, representative of the position of the satellite and designated X,, Y,, and Z respective at a sequence of known points in time. These latter'signals are sometimes referred to collectively as the orbital data or orbital parameters received from the satellite.

" An inertial instrument cluster schematically designated within the block 30 includes means for generating separate signals representative of acceleration of the inertial instrument platform in three orthogonal directions. Typically, the inertial instrument cluster might contain three separate gyroscopes; and associated with each gyroscope is an accelerometer the acceleration signals (a,, 0,, and a,) being generated by the accelerometers. An altitude measurement means 31 may also be included, for example, if the vehicle is an aircraft; and the altitude measurement means 31 generates a signal representative of altitude. The outputs of the inertial instrument cluster 30 and .the altitude measurement means 31 are fed into the system computer 28; and a program generates a preliminary navigation solution as schematically designated at 32 from these inputs. The output nformation contained in the preliminary nav gation solution includes the three orthogonal components of position and velocity; and these signals are corrected at 33 according to the estimates of errors computed by'a Kalman filter 34 and subtracted from or added to the pure inertial data to generate a corrected set of position and velocity outputs which are stored in separate registers within the computer 28. 1 I

The corrected position and velocity data is also used to compute a doppler shifl computation, schematically represented at 36, to generate a signal representative of a predicted doppler shift that the vehicle "thinks" it should see, based upon the orbital data received from the message decoder 24, which is also taken into account in the doppler shift computation. The predicted doppler shift information is compared in the comparison means 27 with the actual measured doppler data to generate a signal representative of the difference between the measured doppler shift and the predicted doppler shift. This difference signal is Af and it is the basic measurement" or observable fed into the Kalman filter 34.

If it is available, velocity reference data, schematically designated by reference numeral 40 mayalso be fed into the computer 28 and resolved into the inertial system coordinate frame by means of a program 41 to generate a set of signals representative of velocity reference information in the same coordinate frame as the inertial system. This information is then compared with the actual velocity information at 42 and also may be fed into the Kalman filter 34. The inertial instrument bias signals are stored, as schematically designated at 44 in the computer 28; and if it is desired, the Kalman filter 34 may generate a set of inertial instrument bias corrections to modify the inertial instrument bias signals from the computer memory as at 45 and then fed to correct the biases on the gyroscopes and accelerometers in the inertial instrument cluster 30.

Having thus described the system in somewhat functional terms in order to enhance an understaning thereof, mathematical models for the system will now be developed in greater detail. As previously mentioned, there are two alternative embodiments for the mathematical model for the Kalman filter, one being based on discrete samples of frequency as the basic measurement or observable, and the other being based on a frequency count as the measurement or observable upon which the Kalman filter operates.

EXAMPLE l DiscreteSamples of Frequency as the Measurement Beginning with the inertial system error model, it is noted from Equation l that the measurement of is related to both the position and .velocity errors of the inertial system. Thus, the Schuler (84-minute) dynamics must be included in the error model in order that the inertial velocity errors appear as states, as well as position errors. A second reason for including the Schuler dynamics is the desire to include the pure inertial case as well as the velocity-damped case. It is only in the velocity-damped situation that one can simplify the model to just the i -equations as was done by Bona and Hutchinson, op. cit., 569-574; and even then, validity is questionable because of the coupling between the inertial velocity and position-fix errors. Furthermore, if periods of operation that are an appreciable fraction of 24 hours are considered, account must be taken of the coupling effect between channels of the inertial system. This is .done by including the somented states are defined as follows: x 6,, x. c x n n u/ X1: zl ra n 14; 8V1 i: 8f x 8f and x 81;, where 8 'v and 8f refer to the Markov components of the velocity reference and but 'yet 3 satellite frequency errors. The resultant state equation for-the system is shown in matrix form on the following page.

- For a derivation of the Equations (2) (6), see Brown and Friest Optimization of Hybrid lnertial 10 Solar-Tracker Navigation System, IEEE international I -EQUATIONS Convention Record, vol. 7, pp. 12 [-135 1964).-

n. 0 0 o o o 1 o o o o o 0 0 0 0 xi 0 -n. 0 0x 0 o o 0 u 1 o 0 o 0 o o o o n o 0 -n. o o o 0 0 o 0 1 o o 0 o 0 o o in o o o 0 o 1 o o o o o o o 0 o 0 0 o x. o no 0 0 MF 0 0 2n. 0 0 o 1 o o 0 o o 0 x 0 0 0 o o o 0 1 v 0 o 0 o o o 0 0 0 0 x, o 0 -tan 0 0 -2n. am 0 o o o 0 1 o o o 0 0 x 0 o 0 0 0 0 o o -m o 0 o 0 o o 0' 0 0 x, I; 0 0 0 o o 0 o o fl2 o o 0 o 0 0 o 0 1| r, (7) o o o o 0 0 o 0 -s1 0 o 0 0 o 0 0 110 r, o o 0 0 o 0 0 o o o -si 0 o o o 0 0 m r. 0 o 0 o o o o o 0 u 0 -s, o 0 o 0 0 x11 r, 0 o 0 o o o 0 0 o o 0 0 fll 0 0 0 -0 m r. o o 0 o 0 n o o o o 0 o 0 1 o o o x 0 0 0 o o 0 o 0 0 o 0 0 o 0 -m o o x, r, o o o v 0 o o 0 0 o 0 o o 0 0 0 -5t 0 x r. o o o o o o o 0 o o o 0 0 0 0 0 -sm X17 i,

i', ON, e, 2 Equation (7) fits the required format for a Kalman-filter estimation of the states. (3) The output equation describing the connection n (0 between the system and the measurements will now be z z O explained. in addition to the discrete frequency-dif- SCHULER-LOOP EQUATIONS ference measurement discussed previously, the possibility of measuring the inertial velocity error states by 1+ 1+ o '1 u u comparing the inertial velocity with a noninertial 85 80 up 2Q 86 A /R velocity reference is admitted. The magnitudes of the I 1 (6) terms in the associated measurement covariance matrix where x,y,z nominal platform axis (x-north, y-west, z-up) W,, l l telescope pointing errors? (see Pitman) Q,,Q,,,fl, earth-rate components 80 ,86 inertial system position errors can be used to switch this observable in or out, depending on the situation. Also, correlated components of error (assumed to be Markov) in each measurement are allowed. Thus the three measurements allowed in this model are described by the matrix equation on the following page.

y; 0 O 0 fit a: a: HI 0 O 0 D O 0 0 #1 m 4; I] 6y; yg=000010000000100007tz +651: 3 a 000000100'00001000- .s

iu X11 e,,e9 e, gyro drift rates where A,,A,, accelerometer errors We now note that Equations 2 through 6 may be written as a set of seven first-order equations by defining states as follows: x, P,,, x, [5,, x, IQ, x 66,, x 50,, x, 80,, x 80,. Furthermore, if the driving function e 6,, e,, A,,, and A, are assumed to be Markov processes (with random walk as a special case), they will also satisfy first-order differential equations of the form :2 Bx white noise. This gives rise to five additional states that are sometimes referred to as augmented states. Also, the presence of a noninertial velocity reference with Markov errors in both x and y channels are accounted for, so two more augmented states must be added; but these states are required only if a noninertial velocity reference is available to augment the inertial system. Finally, if there are three satellites, each with independent Markov errors in frequency, then there are three more augmented states to add to the system. Thus, in this example, l0 augy, computed frequency received frequency y, reference velocity inertial velocity (x and y channels respectively) a,,n,,a,,a time varying coefficients that depend on satellite geometry (to be discussed in following section) 4 41 zero or unity depending on which of three satellites is being received 8y ,6y,,8y, uncorrelated components of measurement errors. The model is now complete except for the detailed description of the a a,, a a. coefficients in the output matrix. This will be discussed next.

B. COMPUTATION OF THE TIME-VARYING TERMS OF THE OUTPUT MATRIX The explicit relationship between of (as defined in Equation 1)v and the position and velocity errors of the inertial system will now be derived. Considering only small'perturbations from theideal error-free situation,

in we where f frequency received frequency transmitted frequency transmitted c velocity of propagation of signal'(assumed to be constant and thus refraction effect is neglected for sake of simplicity) ,5: range rate It is noted that range rate is a function of the satellite position and velocitycoordinates and also-the vehicle position and velocity-coordinates. Assuming that the satellite coordinates are known and accurate, and referring to the perturbation of 1),; that results from small perturbations of vehicle position and velocity, f can be thought of as a function of vehicle position an Now, I and ii differ only by the scale Equation 11 can be rewritten in terms of p as p 3 [M E E 9i sfn- M n+ ax-laum M It can be seen now that if the inertial syste m c%mputes the doppler shift based on its own estimate of its position and velocity, errors in these estimates will reflect into the computed f inaccordance with Equation [2. When the computed and received frequencies are compared, the difference becomes a measure of a linear combination of position and velocity errors, in-

cluding,,perhaps by additive noise. Thus'one obtains the 4,, 0,, 0,, a. coefficients from the partial derivatives indicated in'Equation 12) after making an appropriate change of variables to the state variables of theinertial error model given by Equation (2') through (6). For the latitude-longitude coordinate system of this example, the appropriate relationships are I s and theterms in parentheses are the a 0,, a a, coefficients. It now remains to write these explicitly in terms of the geometry shown in FIG. 3. Note that the slow mpvingyehicle assumption permits the approximation 80,= 6Acos A.

From FIG. 3 we see that the position coordinates of the vehicle and satellite are given by velocity according to r VE I r q fl: Fm A, A, pk) m) H CLE COQRDINATES where the dependence on time and satellite parameters R cos A sin A 9 (not subject to perturbation) is suppressed, and where A,/\ vehicle longitudeand longitude rate Y R A l (16) A} vehicle latitude and latitude rate Note that it is assumed that the altitude error is zero in Z- R cos A cos (A this example, which is a good approximation in a SATELLITE COORDINATES marine application. The perturbed f resulting from perturbing the explicit variables is then given by X. ='R. cos A, Slll A,

. Y R sin A 6F 6F Z F 6F I I 7) 6 =6A -6A 6A "76A In 5A 4 Z A Z,-=R,cos )t,cosA,

The radial distancebetween the satellite and the vehicle is seen to be 40- Now, for the sake of simplicity in this example, we shall assume both R and R, to be constant; and, with this assumption, the range rate can be writtenas Equations l6), (l7), and (18) can now be substituted directly into- Equations (19); and an explicit expression for b in tenns of R, R,, A, A, A and A, is obtained. The partial derivatives indicated in. Equation (15) can then be found and the desired 0,, a,, a a, coefficients determined. The results are indicated on the following page.

c.c,s,.l+ cnclcnm 0) isismi C. RESULTS QF COMPUTER SIMULATION In order to demonstrate the effectiveness of the navigation system herein described, simulation studies were carried out on an IBM 360/50 computer. The geometric situation chosen consisted of three satellites in circular polar orbits at an altitude of approximately 500 nautical miles. The orbital planes of the satellites were spaced 60 deg. apart with the plane of the first one being 30 east of the initial longitude of the vehicle. For the sake of convenience, it was assumed that all three satellites cross the pole at the same time, and that the vehicle was located at approximately 45 deg. latitude on the surface of the earth.

The numerical values chosen for the random inputs were as follows:

1. Gyro biases (each axis): Markov with an rms value of0.0l deg/hr and a time constant of 10 hr.

2. Accelerometer biases (each channel): Markov with an rms value of 10 sec of arc and a time constant of l hr.

. Noninertial velocity reference errors (each channel and only for the run where this measurement was included in the model): 1/ V2 knot uncorrelated (white) sequence plus 1/ 2 knot rms Markov with a time constant of 1 hr.

. Satellite frequency uncertainties (for each satellite and including miscellaneous effects such as orbital parameter uncertainties): I Hz uncorrelated (white) sequence plus 2 Hz rms Markov with a time constant of 1 hr. Two situations were simulated using Doppler frequency as the observable 1. Run 1. A pure inertial system augmented only with the doppler-frequency data from the three satellites.

2. Run 2. A pure inertial system augmented with both doppler-frequency data from three satellites and a noninertial velocity reference that was assumed to be available at each Kalman-filter updating point throughout the run.

The updating time interval for the Kalman filter was chosen to be 2 minutes when the satellite was not .within range, and seconds when within range (approximately 25" above the horizon). The switch to finer resolution when doppler data was available was felt to be both necessary and realistic in view of the relatively short time interval of any particular pass. Ideally, one would process the augmenting data on a continuous basis. However, in this case a discrete Kalman filter was assumed, and thus the basic time interval of the recursive process must be nonzero.

The resulting rms position errors from Run 1 are shown in FIG. 5. In this run, all initial errors (i.e., states) were assumed to be zero, and the plot of FIG. 7 shows the evolution of the system errors beginning with the zero-initial-condition situation and progressing to the steady-state condition. It can be seen that the position errors approach a bounded steady-state condition, thus showing the effectivenessof the technique. It was also noted from the simulations that all states approach a bounded steady-state condition.

The results of Run 2 were similar to those of Run 1, except that the rms errors were reduced by about 25 percent. Thus, for this example, the addition of external velocity reference infonnation improved the system performance somewhat, but it did not drastically change the overall character of the error propagation.

EXAMPLE II Frequency Count as the Measurement As already mentioned, it may be desirable in some applications to use the frequency count directly as the measurement'in the Kalman filter. The Kalman filter can be modified to accommodate this situation by noting that the doppler shift can be written in terms of range rate as:

fn=(f )b 9 The integral of f over the time interval (t,..,, t.) is the Doppler count;and it is seen to be where p denotes the distance between the terrestrial vehicle and the satellite. Considering small perturbations of p (t,.) and p (I due to a small change in vehicle position (holding the satellite position fixed), a perturbation 6N( t,.) can be written as 

1. Terrestrial navigation apparatus for a vehicle comprising means including inertial means for generating signals representative of the position and velocity of the vehicle, data processing means, a receiver for receiving data from a dopplersatellite system transmitting a reference signal as well as signals from which the satellite''s position and velocity may be computed, difference means for generating a signal representative of the difference between the actual doppler frequency shift measured from the signals received from the satellite and the predicted doppler frequency shift computed by the inertial system, Kalman filter means in said data processor receiving said difference signal for generating a set of error signals representative of estimates of the errors in the position and velocity signals generated by said inertial sensors.
 2. The system of claim 1 further comprising correction means receiving said error estimate signals for correcting said inertial means in response thereto.
 3. The system of claim 2 wherein said inertial means includes a plurality of gyroscope means and accelerometer means associated with said gyroscope means, and wherein said Kalman filter means generates a set of error signals representative of estimates of errors in the biases of said gyroscope means and said accelerometer means.
 4. The system of claim 3 further comprising means receiving said last-named error signals for correcting said biases.
 5. The system of claim 1 wherein said difference signals are discrete frequency difference signals representative of the difference between the actual doppler shift frequency received from said satellite and a doppler frequency computed in said data processing means based on signals received from said inertial means.
 6. The system of claim 1 wherein said difference signals are representative of the difference in frequency count between the actual doppler frequency count and a doppler frequency count computed in said data processing means based on signals received from said inertial means.
 7. The system of claim 1 wherein said Kalman filter means includes a digital computer programmed to solve Equations (32) through (36) receiving a frequency count signal representative of a difference in received doppler shift frequency and a doppler shift freQuency computed by said data processing means responsive to the output signals of said inertial means.
 8. In a method of navigation for a vehicle having means for generating signals representative of position and velocity of the vehicle, the steps comprising receiving from an earth orbiting satellite signals indicative of the position and velocity of said satellite and a reference frequency signal, generating from said received signals a signal representative of an actual doppler shift in said reference frequency signal, generating a signal from said signals representative of position and velocity of said vehicle and said received signals a signal representative of a predicted doppler shift, comparing said actual doppler shift signal and said predicted doppler shift signal to generate a difference signal representative of the difference between said compared signals, and computing from said difference signals error signals representative of error estimates in said vehicle position and velocity signals, said step of computing comprising using discrete-time least-square filter techniques substantially as described.
 9. The method of claim 8 further comprising generating from said difference signal signals representative of accelerometer bias errors, gyroscope bias errors and doppler bias errors.
 10. The method of claim 8 wherein said difference signal is representative of a frequency count difference between the actual doppler shift of said reference signal received from said satellite and the frequency count computed based on an estimate of the vehicle''s position and velocity from said inertial means. 